Safety-critical hierarchical cooperative target encirclement control for multi-AUVs with bearing-only measurements

Reinforcement learning-based fault-tolerant formation-surrounding control for UAVs-AUVs pursuit-evasion games under prescribed performance.

This paper investigates the pursuit-evasion game problem for multiple unmanned aerial vehicles (UAVs) and autonomous underwater vehicles (AUVs) in the presence of actuator faults and performance constraints. The main contribution is the development of a reinforcement learning (RL)-based fault-tolerant formation-surroun...

Active Disturbance‐Rejection Multi‐Stage Dynamic Positioning Control of Overactuated AUVs: Theory and Experiments

This paper presents an active disturbance rejection dynamic positioning (DP) control scheme of overactuated autonomous underwater vehicles (AUVs) for inspection missions. The proposed control scheme consists of dynamic control and control allocation. First, the DP process of the slender‐shaped AUV is decomposed into...

Intelligent Cooperative Control for Multiple Unmanned Underwater Vehicles Using Classical Algorithms

The use of Unmanned Underwater Vehicles (ROV/AUV) in multi-vehicle systems is a critical solution for ocean exploration missions. In this study, a three-layered deterministic “FiratROVNet” autonomy framework centered on Model Predictive Control (MPC), which offers high trajectory tracking precision, is proposed. In the...

Predefined-time robust three-dimensional formation control of underactuated autonomous underwater vehicles under input saturations.

In this paper, a predefined-time (PT) robust three-dimensional (3-D) formation control scheme is proposed for underactuated autonomous underwater vehicles (AUVs) subject to input saturations, uncertain dynamics and unknown time-varying ocean environment disturbances. Based on the idea of PT control, a new predefined-ti...

Cooperative fencing control for uncertain multiple nonholonomic vehicles with self-organized formation

Three-Dimensional Prescribed-Time Convergent Cooperative Integrated Guidance and Control for Multiple STT Vehicles with Terminal Angle Constraints and Actuator Faults

A cooperative integrated guidance and control (CIGC) scheme is proposed for multiple- skid-to-turn (STT) vehicles subject to terminal angle constraints and actuator faults. Following the principle of “single-vehicle design first, cooperative extension afterward”, the proposed method integrates prescribed-time sliding m...